Release/1.3.4

[joaner]

Description

Merge release/1.3.4 into main to address UI stuttering when playing large zstd-compressed MCAP files, and improve worker initialization and playback stability.

Key changes:

• High-performance zstd decompression: Replace fzstd with @ioai/wasm-zstd@^1.1.0 (Vite/ESM-friendly WASM); keep lz4js for LZ4
• Playback architecture improvements:
  • IterablePlayer: Make stale topic refresh asynchronous and non-blocking; adapt stale thresholds by topic frequency
  • MessageCursor: Add buffer duration limits, slice pump + yield to avoid long worker blocking
  • mcap.worker: Limit playback cursor buffer ahead (1.5s) to reduce memory and decode backlog
• MCAP file reading: Remove local BlobReadable; use @mcap/browser
• Loading UX: Add LoadingOverlay; support cancellable worker initialization (WorkerSourceCancelledError)
• HDF5: Upgrade @ioai/hdf5 to ^1.0.0; add hdf5RuntimeLoader
• E2E: Self-contained fixture generation scripts and test data; CI uses npm run gen:e2e:fixtures
• Vite: Pre-bundle worker transitive dependencies; disable worker code splitting to avoid broken HDF5 dynamic import paths
• Version bump: 1.3.3 → 1.3.4

Motivation / related issue

When playing large zstd-compressed MCAP files (e.g. 20241224_demo_gripper_PickAndPlace_ljw.mcap), the progress bar and UI stutter noticeably, with layouts/sec fluctuating between 5–20, while CPU usage stays below 10%.

Root causes include:

1. Pure-JS fzstd decompression is too slow; zstd chunk decoding becomes a worker bottleneck
2. Stale topic backfill was synchronously awaited in the playback tick loop, blocking the main loop
3. MessageCursor had no duration-based buffer limit, causing queue buildup and latency spikes on high-throughput topics

Closes #

Type of change

• Bug fix (non-breaking change that fixes an issue)
• New feature (non-breaking change that adds functionality)
• Breaking change (fix or feature that would cause existing behavior to change)
• Documentation update
• Refactor / internal cleanup (no behavior change)

Checklist

• npm run lint passes with no errors
• npm test passes (unit tests) — 351 tests passed
• npm run build and npm run build:lib succeed
• New behavior is covered by tests (or explain why tests aren't applicable)
  • Added WorkerSerializedSource.test.ts (cancel initialization)
  • Existing MessageCursor / playback-related tests pass
• Documentation updated (README, API.md, EMBEDDING.md) if the public API changed
  • Updated docs/ARCHITECTURE.md / docs/ARCHITECTURE.zh.md
• Breaking change: all affected call sites updated and migration path described in PR description

API compatibility

N/A — no changes to exports in src/entrypoints/index.ts. Internal worker decompression switched from fzstd to @ioai/wasm-zstd; public API is unchanged.

New runtime dependencies:

• @ioai/wasm-zstd@^1.1.0 (published to npm)
• @mcap/browser@^1.1.0

Removed dependencies:

• fzstd

Merge notes

main has 4 panel directory rename/refactor commits (Component.tsx → *Panel.tsx, foxglove-core → core, etc.) that do not conflict with this worker/playback work. The only merge attention needed is docs/ARCHITECTURE.zh.md (changed in both branches).

Do not commit the untracked wasm-zstd/ subdirectory — rosview consumes @ioai/wasm-zstd via npm.

Test plan

• Play the problematic MCAP: 20241224_demo_gripper_PickAndPlace_ljw.mcap — progress bar should be smooth, layouts/sec stable
• Play a large non-zstd MCAP (e.g. banana_*.mcap, ~4 GB) — no regression
• Open/cancel loading: cancel during large-file initialization — should return to welcome screen with no leftover worker
• H.264 video topics: delta frames after keyframe are not dropped; seek recovery works
• HDF5 / BVH / ROS bag basic playback
• npm run test:e2e passes

Screenshots / recordings